From 32589732cfa4e5a1e57c599504ae21a3ec5cbe37 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 16 Aug 2021 12:50:25 +0200
Subject: [PATCH] Make storing and loading from disk nicer
---
.../libraries/armem_gui/MemoryViewer.cpp | 135 ++++--------
.../libraries/armem_gui/MemoryViewer.h | 6 +-
.../armem_gui/disk/ControlWidget.cpp | 200 ++++++++++++++----
.../libraries/armem_gui/disk/ControlWidget.h | 35 +--
4 files changed, 225 insertions(+), 151 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index 1e4d307d0..d52b8c8fd 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -3,8 +3,6 @@
#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <RobotAPI/libraries/armem_gui/gui_utils.h>
-#include <RobotAPI/libraries/armem/server/ltm/disk/MemoryManager.h>
-
#include <RobotAPI/libraries/armem/server/query_proc/wm.h>
#include <RobotAPI/libraries/armem/server/query_proc/ltm.h>
@@ -18,6 +16,7 @@
#include <QBoxLayout>
#include <QCheckBox>
+#include <QClipboard>
#include <QDialog>
#include <QGroupBox>
#include <QMenu>
@@ -25,7 +24,6 @@
#include <QLayout>
#include <QSettings>
-#include <filesystem>
#include <iomanip>
@@ -48,6 +46,10 @@ namespace armarx::armem::gui
connect(statusLabel, &QLabel::customContextMenuRequested, [statusLabel](const QPoint & pos)
{
QMenu menu(statusLabel);
+ menu.addAction("Copy to clipboard", [statusLabel]()
+ {
+ QApplication::clipboard()->setText(statusLabel->text());
+ });
menu.addAction("Clear status", [statusLabel]()
{
statusLabel->clear();
@@ -61,14 +63,6 @@ namespace armarx::armem::gui
updateWidget = new armem::gui::PeriodicUpdateWidget(2.0, 60);
updateWidgetLayout->insertWidget(0, updateWidget);
- // LTM Control
- if (diskControlWidgetLayout)
- {
- this->diskControlLayout = diskControlWidgetLayout;
- diskControl = new armem::gui::disk::ControlWidget();
- diskControlWidgetLayout->addWidget(diskControl);
- }
-
// Memory View
memoryGroup = new armem::gui::MemoryGroupBox();
armarx::gui::replaceWidget(memoryGroupBox, memoryGroup, memoryGroupBoxParentLayout);
@@ -80,11 +74,19 @@ namespace armarx::armem::gui
this->instanceGroup->setStatusLabel(statusLabel);
ARMARX_CHECK_NULL(instanceGroupBox);
+ // Disk Control
+ if (diskControlWidgetLayout)
+ {
+ this->diskControlLayout = diskControlWidgetLayout;
+ diskControl = new armem::gui::disk::ControlWidget();
+ diskControlWidgetLayout->addWidget(diskControl);
+ }
+
// Connections
//connect(this, &This::connected, this, &This::updateMemory);
- connect(diskControl, &armem::gui::disk::ControlWidget::storeOnDisk, this, &This::storeOnDisk);
- connect(diskControl, &armem::gui::disk::ControlWidget::loadFromDisk, this, &This::loadFromDisk);
+ connect(diskControl, &armem::gui::disk::ControlWidget::requestedStoreOnDisk, this, &This::storeOnDisk);
+ connect(diskControl, &armem::gui::disk::ControlWidget::requestedLoadFromDisk, this, &This::loadFromDisk);
connect(this, &This::connected, this, &This::updateMemories);
connect(updateWidget, &armem::gui::PeriodicUpdateWidget::update, this, &This::updateMemories);
@@ -99,9 +101,9 @@ namespace armarx::armem::gui
connect(instanceGroup->view, &armem::gui::InstanceView::memoryIdResolutionRequested, this, &This::resolveMemoryID);
}
- void MemoryViewer::setLogTag(const std::string& tag)
+ void MemoryViewer::setLogTag(const std::string& _tag) // Leading _ silences a warning
{
- Logging::setTag(tag);
+ Logging::setTag(_tag);
}
void MemoryViewer::onInit(ManagedIceObject& component)
@@ -170,7 +172,7 @@ namespace armarx::armem::gui
void MemoryViewer::storeInLTM()
{
- TIMING_START(MemoryStore);
+ TIMING_START(MemoryStore)
for (auto& [name, reader] : memoryReaders)
{
@@ -179,87 +181,34 @@ namespace armarx::armem::gui
reader.readAndStore(input);
}
- TIMING_END_STREAM(MemoryStore, ARMARX_VERBOSE);
+ TIMING_END_STREAM(MemoryStore, ARMARX_VERBOSE)
}
- void MemoryViewer::storeOnDisk()
+ void MemoryViewer::storeOnDisk(QString directory)
{
- TIMING_START(MemoryExport);
- QString qs = diskControl->getEnteredPath();
- std::string utf8_text = qs.toUtf8().constData();
-
- if (not utf8_text.empty())
- {
- ARMARX_IMPORTANT << "Exporting all memories at '" << utf8_text << "'.";
+ TIMING_START(MemoryExport)
- std::filesystem::path p(utf8_text);
- if (std::filesystem::is_regular_file(p))
- {
- ARMARX_WARNING << "Could not export a memory at '" << utf8_text << "'. Skipping export.";
- return;
- }
+ std::string status;
+ diskControl->storeOnDisk(directory, memoryData, &status);
- std::filesystem::create_directories(p);
- for (auto& [name, reader] : memoryReaders)
- {
- armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
- armem::client::QueryResult result = reader.query(input);
-
- // create folder
- std::filesystem::create_directories(p / name);
-
- armem::server::ltm::disk::MemoryManager manager;
- manager.setName(name);
- manager.setBasePath(p / name);
- manager.reload();
- manager.append(result.memory);
- }
- }
- else
- {
- ARMARX_WARNING << "The path is empty. Could not export the memory in nirvana.";
- }
-
- TIMING_END_STREAM(MemoryExport, ARMARX_VERBOSE);
+ statusLabel->setText(QString::fromStdString(status));
+ TIMING_END_STREAM(MemoryExport, ARMARX_VERBOSE)
}
- void MemoryViewer::loadFromDisk()
+ void MemoryViewer::loadFromDisk(QString directory)
{
- armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
+ std::string status;
+ std::map<std::string, wm::Memory> data =
+ diskControl->loadFromDisk(directory, memoryGroup->queryWidget()->queryInput(), &status);
- QString qs = diskControl->getEnteredPath();
- std::string utf8_text = qs.toUtf8().constData();
- std::filesystem::path p(utf8_text);
-
- // first check if the local file system should be queried
- if (std::filesystem::is_directory(p))
+ for (auto& [name, memory] : data)
{
- for (const auto& d : std::filesystem::directory_iterator(p))
- {
- if (d.is_directory())
- {
- std::string k = d.path().filename();
- armem::server::ltm::disk::MemoryManager manager;
- manager.setName(k);
- manager.setBasePath(p / k);
-
- manager.reload();
-
- input.addQueryTargetToAll(armem::query::data::QueryTarget::LTM); // We use LTM as query target for the disk
-
- armem::server::query_proc::ltm::MemoryQueryProcessor ltm_processor;
- armem::wm::Memory query_res = ltm_processor.process(input.toIce(), manager.getCacheAndLutNotConverted());
-
- manager.convert(query_res);
- memoryData[k] = std::move(query_res);
- }
- }
- }
- else
- {
- ARMARX_WARNING << "Could not import a memory from '" << utf8_text << "'. Skipping import.";
+ this->memoryData[name] = std::move(memory);
}
+ statusLabel->setText(QString::fromStdString(status));
+
+ emit memoryDataChanged();
}
@@ -274,7 +223,7 @@ namespace armarx::armem::gui
for (auto& [name, reader] : memoryReaders)
{
- TIMING_START(MemoryQuery);
+ TIMING_START(MemoryQuery)
{
armem::client::QueryResult result = reader.query(input);
if (result.success)
@@ -287,7 +236,7 @@ namespace armarx::armem::gui
errorCount++;
}
}
- TIMING_END_STREAM(MemoryQuery, ARMARX_VERBOSE);
+ TIMING_END_STREAM(MemoryQuery, ARMARX_VERBOSE)
if (debugObserver)
{
@@ -385,8 +334,7 @@ namespace armarx::armem::gui
std::optional<wm::EntityInstance> instance;
try
{
- const wm::Memory* data = getSingleMemoryData(id.memoryName);
- if (data)
+ if (const wm::Memory* data = getSingleMemoryData(id.memoryName))
{
segmentType = data->getProviderSegment(id).aronType();
@@ -404,13 +352,12 @@ namespace armarx::armem::gui
}
}
}
- catch (const armem::error::ArMemError& e)
+ catch (const armem::error::ArMemError&)
{
// May be handled by remote lookup
- (void) e;
}
- if (!instance)
+ if (not instance)
{
try
{
@@ -444,9 +391,9 @@ namespace armarx::armem::gui
// if convMap.empty(), we still need to update to remove existing entries.
- TIMING_START(GuiUpdate);
+ TIMING_START(GuiUpdate)
memoryGroup->tree()->update(convMap);
- TIMING_END_STREAM(GuiUpdate, ARMARX_VERBOSE);
+ TIMING_END_STREAM(GuiUpdate, ARMARX_VERBOSE)
if (debugObserver)
{
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.h b/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
index d46dc8fe9..f2fba3438 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.h
@@ -70,9 +70,9 @@ namespace armarx::armem::gui
void resolveMemoryID(const MemoryID& id);
- // ControlWidget
- void storeOnDisk();
- void loadFromDisk();
+ // Disk Control
+ void storeOnDisk(QString directory);
+ void loadFromDisk(QString directory);
void storeInLTM();
diff --git a/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp b/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp
index b7d4a163f..e36143809 100644
--- a/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp
@@ -1,10 +1,16 @@
#include "ControlWidget.h"
-#include <QPushButton>
-#include <QLineEdit>
-#include <QTimer>
+#include <RobotAPI/libraries/armem/server/ltm/disk/MemoryManager.h>
+#include <RobotAPI/libraries/armem/server/query_proc/ltm.h>
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
#include <QHBoxLayout>
+#include <QSpacerItem>
#include <QFileDialog>
+#include <QPushButton>
+
+#include <filesystem>
#include <cmath>
@@ -14,60 +20,176 @@ namespace armarx::armem::gui::disk
ControlWidget::ControlWidget()
{
- setSizePolicy(QSizePolicy::Policy::Minimum, QSizePolicy::Policy::Fixed);
+ _latestDirectory = QString::fromStdString("/tmp/MemoryExport");
- auto vlayout = new QVBoxLayout();
- auto hlayout1 = new QHBoxLayout();
- auto hlayout2 = new QHBoxLayout();
+ _loadFromDiskButton = new QPushButton(" Load from Disk", this);
+ _loadFromDiskButton->setIcon(QIcon(":/icons/document-open.svg"));
+ _storeOnDiskButton = new QPushButton(" Store on Disk", this);
+ _storeOnDiskButton->setIcon(QIcon(":/icons/document-save.svg"));
- hlayout1->setContentsMargins(10, 2, 10, 2);
- hlayout2->setContentsMargins(10, 2, 10, 2);
+ // Allow horizontal shrinking of buttons
+ std::vector<QPushButton*> buttons { _storeOnDiskButton, _loadFromDiskButton };
+ for (QPushButton* button : buttons)
+ {
+ button->setSizePolicy(QSizePolicy::Maximum, QSizePolicy::Fixed);
+ }
- const int margin = 0;
- vlayout->setContentsMargins(margin, margin, margin, margin);
+ this->setSizePolicy(QSizePolicy::Policy::Preferred, QSizePolicy::Policy::Fixed);
- _lineEdit = new QLineEdit("/tmp/MemoryExport", this);
- //_lineEdit->setSizePolicy(QSizePolicy::Ignored, QSizePolicy::Preferred);
+ QHBoxLayout* layout = new QHBoxLayout();
+ this->setLayout(layout);
- _openFileBrowserButton = new QPushButton("Search files", this);
+ const int margin = 0;
+ layout->setContentsMargins(margin, margin, margin, margin);
+
+ layout->addWidget(_loadFromDiskButton);
+ layout->addWidget(_storeOnDiskButton);
+
+
+ // Connections
+
+ connect(_loadFromDiskButton, &QPushButton::pressed, [this]()
+ {
+ QString directory = chooseDirectoryDialog();
+ if (directory.size() > 0)
+ {
+ emit requestedLoadFromDisk(directory);
+ }
+ });
+ connect(_storeOnDiskButton, &QPushButton::pressed, [this]()
+ {
+ QString directory = chooseDirectoryDialog();
+ if (directory.size() > 0)
+ {
+ emit requestedStoreOnDisk(directory);
+ }
+ });
+ }
- _storeOnDiskButton = new QPushButton("Store", this);
- _loadFromDiskButton = new QPushButton("Load", this);
- hlayout1->addWidget(_lineEdit);
- hlayout1->addWidget(_openFileBrowserButton);
+ static
+ const std::string&
+ handleSingular(int num, const std::string& singular, const std::string& plural)
+ {
+ return num == 1 ? singular : plural;
+ }
- hlayout2->addWidget(_storeOnDiskButton);
- hlayout2->addWidget(_loadFromDiskButton);
- vlayout->addItem(hlayout1);
- vlayout->addItem(hlayout2);
+ void
+ ControlWidget::storeOnDisk(
+ QString directory,
+ const std::map<std::string, wm::Memory> memoryData,
+ std::string* outStatus)
+ {
+ std::filesystem::path path(directory.toUtf8().constData());
+ ARMARX_CHECK_POSITIVE(path.string().size()); // An empty path indicates an error.
+
+ std::stringstream status;
+ if (std::filesystem::is_regular_file(path))
+ {
+ status << "Could not export memories contents to " << path << ": Cannot overwrite existing file.";
+ }
+ else
+ {
+ int numStored = 0;
+ for (const auto& [name, data] : memoryData)
+ {
+ if (std::filesystem::is_regular_file(path / name))
+ {
+ status << "Could not export memory '" << name << "' to " << path << ": Cannot overwrite existing file.\n";
+ }
+ else
+ {
+ std::filesystem::create_directories(path / name);
+
+ armem::server::ltm::disk::MemoryManager manager;
+ manager.setName(name);
+ manager.setBasePath(path / name);
+ manager.reload();
+ manager.append(data);
+
+ numStored++;
+ }
+ }
+ status << "Exported " << numStored << " " << handleSingular(numStored, "memory", "memories") << " to " << path << ".";
+ }
+
+ if (outStatus)
+ {
+ *outStatus = status.str();
+ }
+ }
- this->setLayout(vlayout);
- // Private connections.
- // Public connections.
- connect(_openFileBrowserButton, &QPushButton::pressed, this, &This::openFileBrowser);
- connect(_loadFromDiskButton, &QPushButton::pressed, this, &This::loadFromDisk);
- connect(_storeOnDiskButton, &QPushButton::pressed, this, &This::storeOnDisk);
+ std::map<std::string, wm::Memory>
+ ControlWidget::loadFromDisk(
+ QString directory,
+ const armem::client::QueryInput& _queryInput,
+ std::string* outStatus)
+ {
+ std::filesystem::path path(directory.toUtf8().constData());
+
+ std::map<std::string, wm::Memory> memoryData;
+ std::stringstream status;
+
+ if (not std::filesystem::is_directory(path))
+ {
+ status << "Could not import a memory from " << path << ". Skipping import.";
+ }
+ else
+ {
+ // We use LTM as query target for the disk
+ armem::client::QueryInput queryInput = _queryInput;
+ queryInput.addQueryTargetToAll(armem::query::data::QueryTarget::LTM);
+ const query::data::Input queryIce = queryInput.toIce();
+
+ int numLoaded = 0;
+ for (const auto& dir : std::filesystem::directory_iterator(path))
+ {
+ if (dir.is_directory())
+ {
+ const std::string key = dir.path().filename();
+ armem::server::ltm::disk::MemoryManager manager;
+ manager.setName(key);
+ manager.setBasePath(path / key);
+
+ manager.reload();
+
+ armem::server::query_proc::ltm::MemoryQueryProcessor ltm_processor;
+ armem::wm::Memory query_res = ltm_processor.process(queryIce, manager.getCacheAndLutNotConverted());
+
+ manager.convert(query_res);
+ memoryData[key] = std::move(query_res);
+
+ numLoaded++;
+ }
+ }
+ status << "Loaded " << numLoaded << " " << handleSingular(numLoaded, "memory", "memories") << " from " << path << ".";
+ }
+
+ if (outStatus)
+ {
+ *outStatus = status.str();
+ }
+ return memoryData;
}
- void ControlWidget::openFileBrowser()
+ QString ControlWidget::chooseDirectoryDialog()
{
QFileDialog dialog;
dialog.setFileMode(QFileDialog::DirectoryOnly);
- //dialog.setOption(QFileDialog::DontUseNativeDialog, true);
dialog.setOption(QFileDialog::ShowDirsOnly, false);
- dialog.exec();
- QString open = dialog.directory().path();
- _lineEdit->setText(open);
- }
-
-
- QString ControlWidget::getEnteredPath()
- {
- return _lineEdit->text();
+ dialog.setDirectory(_latestDirectory);
+ if (dialog.exec())
+ {
+ _latestDirectory = dialog.directory().path();
+ return _latestDirectory;
+ }
+ else
+ {
+ return QString::fromStdString("");
+ }
}
}
diff --git a/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.h b/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.h
index 4ba8f91d5..b14c9b0a0 100644
--- a/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.h
@@ -1,11 +1,13 @@
#pragma once
+#include <RobotAPI/libraries/armem/core/forward_declarations.h>
+#include <RobotAPI/libraries/armem/client/Query.h>
+
#include <QWidget>
#include <QString>
+
class QPushButton;
-class QLineEdit;
-class QFileDialog;
namespace armarx::armem::gui::disk
@@ -21,36 +23,39 @@ namespace armarx::armem::gui::disk
ControlWidget();
- QString getEnteredPath();
-
+ void
+ storeOnDisk(
+ QString directory,
+ const std::map<std::string, wm::Memory> memoryData,
+ std::string* outStatus = nullptr);
- public slots:
-
- void openFileBrowser();
+ std::map<std::string, wm::Memory>
+ loadFromDisk(
+ QString directory,
+ const armem::client::QueryInput& queryInput,
+ std::string* outStatus = nullptr);
signals:
- void loadFromDisk();
- void storeOnDisk();
+ void requestedLoadFromDisk(QString directory);
+ void requestedStoreOnDisk(QString directory);
private slots:
+ QString chooseDirectoryDialog();
+
signals:
private:
- QLineEdit* _lineEdit;
-
- QPushButton* _openFileBrowserButton;
-
- QPushButton* _storeInLTMButton;
- QPushButton* _storeOnDiskButton;
QPushButton* _loadFromDiskButton;
+ QPushButton* _storeOnDiskButton;
+ QString _latestDirectory;
};
--
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